Walk cycle movement using Rigid Bodies
I think you can. But you can better make the animated rig a dynamic body with capsule bounds in collision bounds. try to ajust the hight so the feet will touch the ground. to do this, just move the origin of the rig. Now just use programming with velocity motion to make it walk and try to change the animation according to the speed you want it to walk. Cause with physics like that, I think it wil lag a lot because it will try to sufficate with the underground. And in that case you should use triangle mesh bounds witch ask a lot more from your pc / mac / linux thing.